working image build

ClusterSetup.txt

@@ -82,3 +82,12 @@ kubectl exec <pod_name> -it -- bash
 kubectl get service -> good for getting port numbers
 kubectl delete -f deployment.yaml -> removes (eventually) pods on the cluster in deployment
 kubectl get pod -o=custom-columns=NAME:.metadata.name,STATUS:.status.phase,NODE:.spec.nodeName --all-namespaces
+
+label nodes to force pod to live on specific node:
+kubectl label nodes <node_name> <selector_key>=<selector_value>
+then in pod spec, add
+nodeSelector:
+  <selector_key>=<selector_value>
+
+check which pods are running on which nodes:
+kubectl get pods --all-namespaces -o wide

llhApproach/docker/drone/Dockerfile

@@ -4,31 +4,56 @@ FROM ${from}
 # RUN apt-get update && apt-get install -y \
 #     python-catkin-tools \
 #     && rm -rf /var/lib/apt/lists/*
-RUN apt-get update && apt-get install -y python3-pip git
+RUN apt-get update && apt-get install -y python3-pip git ca-certificates
+RUN apt-get update && apt-get install -y libsdl2-dev libusb-1.0-0-dev build-essential cmake gcc ffmpeg python3-opencv libavcodec-dev libavdevice-dev libavfilter-dev libavformat-dev libavresample-dev libavutil-dev libpostproc-dev libswresample-dev libswscale-dev
+RUN apt-get update && apt-get install -y ros-noetic-tf
+
 RUN pip3 install git+https://github.com/catkin/catkin_tools.git
 
+# set up udev and usb stuff
+WORKDIR /opt
+RUN mkdir -p /etc/udev/rules.d && touch /etc/udev/rules.d/DJIDevice.rules \
+&& echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"' >> /etc/udev/rules.d/DJIDevice.rules \
+&& echo 'SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK+="dji_usb"' >> /etc/udev/rules.d/DJIDevice.rules
+# && usermod -a -G dialout $USER
+
+# clone and install the onboard sdk first
+RUN git clone http://git.caslab.ece.vt.edu/hlarkin3/onboard-sdk-arm.git
+RUN mkdir onboard-sdk-arm/build
+WORKDIR /opt/onboard-sdk-arm/build
+RUN cmake .. \
+&& make -j4\
+&& make install\
+&& cp ../sample/platform/linux/common/UserConfig.txt bin/ \
+&& echo "app_id : 1069806" > bin/UserConfig.txt \
+&& echo "app_key : e180b993ca8365653437fbafe7211ba040386d77c3c87627882857a11bd8efbd" >> bin/UserConfig.txt \
+&& echo "device : /dev/dji_usb" >> bin/UserConfig.txt \
+&& echo "baudrate : 921600" >> bin/UserConfig.txt \
+&& echo "acm_port : /dev/ttyACM0" >> bin/UserConfig.txt \
+&& cp bin/UserConfig.txt /root/.ros/UserConfig.txt
+
+# clone eigen into correct location and rename
+WORKDIR /usr/local/include/
+RUN git clone https://gitlab.com/libeigen/eigen.git && mv eigen/ Eigen3/
+
 # clone ros package repo
 ENV ROS_WS /opt/ros_ws
 RUN mkdir -p $ROS_WS/src
 WORKDIR $ROS_WS
-RUN git -C src clone \
-      -b $ROS_DISTRO-devel \
-      https://github.com/ros/ros_tutorials.git
+RUN git -C src clone https://git.caslab.ece.vt.edu/hlarkin3/drone-ros-packages/ -b replicants
 
 # install ros package dependencies
 RUN apt-get update && \
     rosdep update && \
-    rosdep install -y \
-      --from-paths \
-        src/ros_tutorials/roscpp_tutorials \
-      --ignore-src && \
+    rosdep install -y --from-paths src/* --ignore-src && \
     rm -rf /var/lib/apt/lists/*
 
 # build ros package source
 RUN catkin config \
       --extend /opt/ros/$ROS_DISTRO && \
-    catkin build \
-      roscpp_tutorials
+    catkin build
+    # \
+    #   roscpp_tutorials
 
 COPY bashCheckRoscore.sh /usr/local/bin/bashCheckRoscore.sh
 COPY ros_entrypoint.sh /usr/local/bin/ros_entrypoint.sh

llhApproach/kubernetes/listener-deployment.yaml

@@ -45,6 +45,8 @@ spec:
           value: http://service-master:11311
         - name: ROS_HOSTNAME
           value: service-listener
+      nodeSelector:
+        name: plath
         # When the roscore container stops or fails, all the node
         # containers need to be restarted because the ros network
         # configuration is lost.

llhApproach/kubernetes/master-deployment.yaml

@@ -27,6 +27,8 @@ spec:
         ports:
         - containerPort: 11311
           name: roscoreport
+      nodeSelector:
+        name: master
 
 ---
 

llhApproach/kubernetes/plathDeployment.yaml

+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: drone-deployment
+  labels:
+    app: llhcluster
+    node: drone
+spec:
+  replicas: 1
+  # The deployment handles all matching templated pods
+  selector:
+    matchLabels:
+      node: drone
+  # Template for a replica.
+  # The deployment makes sure that a POD containing the containers
+  # defined below is always running.
+  template:
+    metadata:
+      labels:
+        node: drone
+    spec:
+      containers:
+      # The real node container
+      - name: droneContainer
+        image: llh/drone:v0
+        command: ["/bin/bash"]
+        args: ["-c", "source /opt/ros_ws/devel/setup.bash && /usr/local/bin/bashCheckRoscore.sh && rostopic pub -r 1 plathReady std_msgs/String 'ready'"]
+        env:
+        - name: ROS_MASTER_URI
+          value: http://service-master:11311
+        - name: ROS_HOSTNAME
+          value: service-drone
+      nodeSelector:
+        name: plath
+
+---
+
+apiVersion: v1
+kind: Service
+metadata:
+  name: service-drone
+  labels:
+    app: llhcluster
+    node: drone
+spec:
+  # Start a headless service
+  # https://kubernetes.io/docs/concepts/services-networking/service/#headless-services
+  clusterIP: None
+  ports:
+    # Dummy port
+    - port: 11311
+  selector:
+    node: drone

llhApproach/kubernetes/talker-deployment.yaml

@@ -45,6 +45,8 @@ spec:
           value: http://service-master:11311
         - name: ROS_HOSTNAME
           value: service-talker
+      nodeSelector:
+        name: neruda
         # When the roscore container stops or fails, all the node
         # containers need to be restarted because the ros network
         # configuration is lost.